px4_autopilot

Commit Graph

Author	SHA1	Message	Date
Kamil Ritz	1f637af7de	Add const modifier	5 years ago
kamilritz	644e903552	Apply measurementUpdate function	5 years ago
Paul Riseborough	06aa78a291	EKF: Only record airspeed fusion event when states are updated	5 years ago
Paul Riseborough	ede6204f85	EKF: airspeed fusion cleanup	5 years ago
Paul Riseborough	a5a43dbc6c	EKF: Convert airspeed fusion to use SymPy generated auto-code	5 years ago
kamilritz	89bfcc2167	Introduce checkAndFixCovarianceUpdate(KHP) function	5 years ago
kamilritz	5c4a3d4576	Make observation jacobian a Vector24f when possible	5 years ago
kamilritz	b5765eb3b4	Move variable declaration to better place & remove airspeed_innov_var_temp variable. setting to global variable even when fusion is aborted is okay	5 years ago
kamilritz	05855b7fc1	Update time of last fusion event really only if fused Except for the velpos fusion	5 years ago
kamilritz	16a00eae0b	Make Kfusion a Vector24f	5 years ago
kamilritz	356b2f6ffe	Stop setting zero to zero	5 years ago
kamilritz	552bf824ea	Add typedef for Matrix 24 types	5 years ago
kamilritz	48f0eb16da	Remove uninformative comments	5 years ago
kamilritz	4a69b41015	Increase matrix library usage even more	5 years ago
kritz	24f2e60b7e	Reduce stored strings, to save flash space (#815 )	5 years ago
kamilritz	2fa43419d2	Interface: output vector quantities by "return-by-value"	5 years ago
kamilritz	9e6d27fafb	Add missing const qualifier	5 years ago
Paul Riseborough	0d0f46ec1c	EKF: Don't run unnecessary makeRowColSymmetric operation This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.	5 years ago
kamilritz	92ba618f57	Improve on flash memory usage	5 years ago
kamilritz	459b76f9fd	Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.	5 years ago
kamilritz	1bf09fd370	Remove EKF prefix from logged messages	5 years ago
kritz	4a38f5a2f6	Add timestamp to ECL print statements, (#644 ) which is helpful for EKF replay debugging.	5 years ago
Carl Olsson	f0889c1760	EKF: fixed some comment typos Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>	6 years ago
Daniel Agar	c5b2f59f57	PX4 style fixes (excluding EKF generated code)	7 years ago
Paul Riseborough	ae069b12d6	EKF: Fix bug preventing wind relative dead reckoning	7 years ago
Daniel Agar	cd12f049fe	move geo and geo_lookup from PX4 Firmware to ECL	7 years ago
ChristophTobler	e388e59f32	EKF: use uint64_t cast for XeY to avoid float casting of variables The default type for XeY is float	7 years ago
Paul Riseborough	55a2dc94df	EKF: handle air data fusion covariance reset consistently Both the sideslip and airspeed fusion should not be resetting covariances for states they do not modify.	7 years ago
Paul Riseborough	0d32128701	EKF: Use dead-reckoning status to determine if air data should modify non-wind states	7 years ago
CarlOlsson	8200e4b218	EKF: added get_wind_velocity_var function Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>	8 years ago
Daniel Agar	99ba1c3745	EKF trivial code style cleanup	8 years ago
Paul Riseborough	cc5db74d1b	EKF: Add true airspeed accessor	8 years ago
Daniel Agar	c44488fdb8	EKF matrix typedef cleanup	8 years ago
Paul Riseborough	951c8b77af	EKF: Improve wind state reset logic Enables wind estimation without an airspeed sensor and enables synthetic sideslip to be used with an airspeed sensor for improved wind state estimation. Wind states and covariances are reset differently depending on whether airspeed is available.	8 years ago
Beat Küng	07c6aabd98	EKF: reduce KH to only the elements that are really needed, and merge the loops	8 years ago
Paul Riseborough	1b59a89a18	EKF: save some stack memory	8 years ago
Beat Küng	25cb400da9	EKF: remove Ekf::KHP and move KHP to the methods where it's used Everywhere where KHP is used, it is first completely reset, thus making it unnecessary to keep it as a class member. This saves 2.3KB RAM. Stack sizes don't need changing, since there is already a function Ekf::predictCovariance(), which needs around 3KB of stack and is called close to where the fuse* functions are called.	8 years ago
Paul Riseborough	79df7e8889	EKF: Reduce effect of bad airspeed when other aiding data available	8 years ago
Paul Riseborough	75bec44b94	EKF: add function to initialise wind states	9 years ago
Paul Riseborough	a9894d7e8c	EKF: improve efficiency of airspeed fusion Don't compute array entries where the result will be zero	9 years ago
Youssef Demitri	168d9add76	added getter function for wind states	9 years ago
Paul Riseborough	381d99aed6	EKF: Inform console of serious fusion numerical errors	9 years ago
Paul Riseborough	65da9173b9	EKF: capture innovation checks and reset events in separate variables rename the innovation check status class variable and remove the reset flags from it.	9 years ago
Paul Riseborough	8125717bf5	EKF: remove un-used airspeed health class variable Airspeed rejection now is captured in _sensor_fault_status	9 years ago
Paul Riseborough	cf489f4248	EKF: capture airspeed innovation test failures	9 years ago
Carl Olsson	5217b73df1	added bad_airspeed reporting (#123 )	9 years ago
CarlOlsson	ee7d7aeb8a	fixed_airspeed_healthy_bug	9 years ago
Paul Riseborough	020b87933e	EKF: replace fault status struct with a union to facilitate logging	9 years ago
Paul Riseborough	7f5669fb2d	EKF: consolidate covariance corrections Combines the forced symmetry, variance limiting and zeroing of covariances for unwanted states in the one function. This ensures a consistent correction is applied after every covariance prediction or correction.	9 years ago
Paul Riseborough	1126048a93	EKF: Improve protection against bad airspeed fusion	9 years ago

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64 Commits (15afa8ae17d91a0c2ab8849f2ea34e3b696f0b4c)